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e9e0577 Dec 18, 2015
@hydra @pimvanpelt @thenickdude @dave-pitman @TronskiFPV @stuphi @payne92
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Controls

Arming

When armed, the aircraft is ready to fly and the motors will spin when throttle is applied. The motors will spin at a slow speed when armed (this feature may be disabled by setting MOTOR_STOP, but for safety reasons, that is not recommended).

By default, arming and disarming is done using stick positions. (NOTE: this feature is disabled when using a switch to arm.)

Stick Positions

The three stick positions are:

Position Approx. Channel Input
LOW 1000
CENTER 1500
HIGH 2000

The stick positions are combined to activate different functions:

Function Throttle Yaw Pitch Roll
ARM LOW HIGH CENTER CENTER
DISARM LOW LOW CENTER CENTER
Profile 1 LOW LOW CENTER LOW
Profile 2 LOW LOW HIGH CENTER
Profile 3 LOW LOW CENTER HIGH
Calibrate Gyro LOW LOW LOW CENTER
Calibrate Acc HIGH LOW LOW CENTER
Calibrate Mag/Compass HIGH HIGH LOW CENTER
Inflight calibration controls LOW LOW HIGH HIGH
Trim Acc Left HIGH CENTER CENTER LOW
Trim Acc Right HIGH CENTER CENTER HIGH
Trim Acc Forwards HIGH CENTER HIGH CENTER
Trim Acc Backwards HIGH CENTER LOW CENTER
Disable LCD Page Cycling LOW CENTER HIGH LOW
Enable LCD Page Cycling LOW CENTER HIGH HIGH
Save setting LOW LOW LOW HIGH

Stick Positions

Download a graphic cheat sheet with Tx stick commands (the latest version can always be found here).

Yaw control

While arming/disarming with sticks, your yaw stick will be moving to extreme values. In order to prevent your craft from trying to yaw during arming/disarming while on the ground, your yaw input will not cause the craft to yaw when the throttle is LOW (i.e. below the min_check setting).

For tricopters, you may want to retain the ability to yaw while on the ground, so that you can verify that your tail servo is working correctly before takeoff. You can do this by setting tri_unarmed_servo to 1 on the CLI (this is the default). If you are having issues with your tail rotor contacting the ground during arm/disarm, you can set this to 0 instead. Check this table to decide which setting will suit you:

Is yaw control of the tricopter allowed?
DisarmedArmed
Throttle lowThrottle normalThrottle lowThrottle normal
tri_unarmed_servo = 0NoNoNoYes
NoNoNoYes
tri_unarmed_servo = 1YesYesYesYes
YesYesYesYes

Throttle settings and their interaction

min_command - With motor stop enabled this is the command sent to the esc's when the throttle is below min_check or disarmed. With motor stop disabled, this is the command sent only when the copter is disarmed. This must be set well below motors spinning for safety.

min_check - With switch arming mode is in use, lowering your throttle below min_check will result in motors spinning at min_throttle. When using the default stick arming, lowering your throttle below min_check will result in motors spinning at min_throttle and yaw being disabled so that you may arm/disarm. With motor stop enabled, lowering your throttle below min_check will also result in motors off and the esc's being sent min_command. Min_check must be set to a level that is 100% reliably met by the throttle throw. A setting too low may result in a dangerous condition where the copter can’t be disarmed. It is ok to set this below min_throttle because the FC will automaticly scale the output to the esc's

min_throttle - Typically set to just above reliable spin up of all motors. Sometimes this is set slightly higher for prop stall prevention during advanced maneuvers or sometimes considerably higher to produce a desired result. When armed with motor stop off, your motors will spin at this command so keep that in mind from a safety stand point.

max_check - Throttle positions above this level will send max_command to the esc's.

max_throttle - This is the max command to the esc's from the flight controller.

In depth videos explaining these terms are available from Joshua Bardwell here:

https://www.youtube.com/watch?v=WFU3VewGbbA

https://www.youtube.com/watch?v=YNRl0OTKRGA